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package br.ufrn.dca.controle;

/**
 *  Responsavel pela sintonia dos parametros do PID eplo método de cancelamento de polos
 * 
 * @author allan
 */
public class paraleloPID {
    
    private double kp;
    
    private double ki;
    
    private double kd;
    
    private double ti;
    
    private double td;
    
    public paraleloPID(){
        kp = 2;
        ki = 0.5;
        kd = 0.005;
    }
    
    public paraleloPID(double tao, double k, double d){
        this.ti = 2*tao;
        this.td = tao/2;
        kp = (2*tao*kp)/k;
    }
        
    public double getKp() {
        return kp;
    }

    public void setKp(double kp) {
        this.kp = kp;
    }

    public double getKi() {
        return ki;
    }

    public void setKi(double ki) {
        this.ki = ki;
    }

    public double getKd() {
        return kd;
    }

    public void setKd(double kd) {
        this.kd = kd;
    }            
}
